CN104919190A - Device for recovering pressurized oil energy from a work machine - Google Patents

Abstract

Provided is a device that is for recovering pressurized oil energy from a work machine and that can recover energy efficiently and secure operability comparable to standard construction machines without an increase in size in the device for recovering energy. The present invention is provided with: an interconnection tube for interconnecting the rod-side oil chamber side and bottom-side oil chamber side of a liquid pressure cylinder; an interconnection valve that is provided to the interconnection tube and that can adjust the pressure and/or flow rate of pressurized oil passing through the interconnection tube by adjusting the aperture thereof; a first pressure detection means that detects a pressure signal on the bottom-side oil chamber side of the liquid pressure cylinder; an operation quantity detection means that detects the operation quantity of an operation means; and a control device that acquires the pressure signal of the bottom-side oil chamber of the liquid pressure cylinder detected by the first pressure detection means and the operation quantity of the operation means detected by the operation quantity detection means, calculates the piston rod speed of the liquid pressure cylinder, and controls the interconnection valve in accordance with the piston rod speed.

Description

The hydraulic oil energy recycle device of Work machine

Technical field

The present invention relates to the hydraulic oil energy recycle device of Work machine, in more detail, relate to the hydraulic oil energy recycle device of the Work machine with oil hydraulic cylinder.

Background technique

Disclose the energy recycle device of following hydraulic oil, it is equipped on the engineering machinery such as hydraulic shovel, has: by the inflow of rework solution force feed of flowing out from the hydraulic actuator of oil hydraulic cylinder and the oil hydraulic motor driven; The generator of electric energy is produced by the input of the driving force of oil hydraulic motor; With the storage battery (for example, referring to patent documentation 1) storing the electric energy produced by generator.

Prior art document

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 2000-136806 publication

Summary of the invention

In the above prior art, such as, when oil hydraulic cylinder being applicable to the swing arm oil hydraulic cylinder of the swing arm driving Work machine, the rework solution force feed that the deadweight because of swing arm is fallen and caused the cylinder bottom side grease chamber of slave arm oil hydraulic cylinder to discharge becomes large discharge.Therefore, such as, to improve the reuse efficiency of rework solution force feed, then need oil hydraulic motor, the generator of the Large Copacity corresponding with the hydraulic oil of large discharge/large volume, and cause energy recycle device to maximize.Its result is, causes manufacture cost to rise, and produces the problem of the installation space in engineering machinery.

For the problem of installation space, also consider the capacity merely miniaturization making energy recycle device, but in this case, need to limit the flow in the unit time of the rework solution force feed flowed into, therefore, swing arm rate of descent is slack-off.Its result is, with do not carry energy recycle device standard type engineering machinery compared with, worry operability reduce.

On the other hand, if a part for the rework solution force feed that the cylinder bottom side grease chamber only reclaiming slave arm oil hydraulic cylinder by energy recycle device discharges, then operability can be guaranteed, but in this case, need the rework solution force feed that cannot be reclaimed completely by energy recycle device is discharged to fuel tank, the problem that the energy-producing reuse efficiency of meeting reduces.

The present invention makes in view of the foregoing, provides a kind of hydraulic oil energy recycle device of Work machine, and energy recycle device can not be made to guarantee the operability equal with the engineering machinery of standard type with maximizing, and can recovered energy expeditiously.

To achieve these goals, 1st invention provides a kind of hydraulic oil energy recycle device of Work machine, there is oil hydraulic pump, drive the oil hydraulic cylinder of apparatus for work, operate the operating device of above-mentioned oil hydraulic cylinder and reclaim the oil hydraulic motor of rework solution force feed of above-mentioned oil hydraulic cylinder, also have: connecting pipeline, it is communicated with piston rod side grease chamber for making the cylinder bottom side grease chamber of above-mentioned oil hydraulic cylinder; Connecting valve, it to be located on above-mentioned connecting pipeline and can by adjusting its aperture to adjust pressure and/or the flow of the hydraulic oil passed through from above-mentioned connecting pipeline; 1st pressure detection mechanism, it detects the pressure signal of the cylinder bottom side grease chamber of above-mentioned oil hydraulic cylinder; Operation amount feeler mechanism, it detects the operation amount of aforesaid operations mechanism; And control gear, it is taken into the operation amount of the aforesaid operations mechanism that the pressure signal of the cylinder bottom side grease chamber of the above-mentioned oil hydraulic cylinder that above-mentioned 1st pressure detection mechanism detects and aforesaid operations amount detection machine structure detect and calculates the piston rod speed of above-mentioned oil hydraulic cylinder, correspondingly controls above-mentioned connecting valve with above-mentioned piston rod speed.

In addition, the feature of the 2nd invention is, in the 1st invention, above-mentioned control gear controls above-mentioned connecting valve, make to increase with the volume along with the above-mentioned piston rod side grease chamber calculated from above-mentioned piston rod velocimeter and compared with the inhalation flow of hydraulic oil that changes, the flow of the hydraulic oil flowed into piston rod side grease chamber from the cylinder bottom side grease chamber of above-mentioned oil hydraulic cylinder becomes many.

In addition, the feature of the 3rd invention is, in the 1st invention, also there is the 2nd pressure detection mechanism of the pressure signal of the piston rod side grease chamber detecting above-mentioned oil hydraulic cylinder, the pressure reduction of above-mentioned control gear between the pressure of cylinder bottom side grease chamber and the pressure of the piston rod side grease chamber of above-mentioned oil hydraulic cylinder of the above-mentioned oil hydraulic cylinder that above-mentioned 1st pressure detection mechanism and the 2nd pressure detection mechanism detect exceedes the setting pressure preset, flow restriction control control is carried out to the aperture of above-mentioned connecting valve, pressure reduction between the pressure of cylinder bottom side grease chamber and the pressure of the piston rod side grease chamber of above-mentioned oil hydraulic cylinder of above-mentioned oil hydraulic cylinder is below the setting pressure that presets, standard-sized sheet control is carried out to the aperture of above-mentioned connecting valve.

In addition, the feature of the 4th invention is, in the 1st invention, also there is pressure controlled valve, it is when the pressure increase of the hydraulic oil of above-mentioned oil hydraulic cylinder is to its oil pressure relief, carry out starting and do and above-mentioned hydraulic oil is discharged to fuel tank, above-mentioned control gear is under the closed state of above-mentioned connecting valve, pressure reduction between the pressure and the oil pressure relief of above-mentioned pressure controlled valve of the cylinder bottom side grease chamber of the above-mentioned oil hydraulic cylinder that above-mentioned 1st pressure detection mechanism detects exceedes the setting pressure preset, continue the Closed control of above-mentioned connecting valve.

In addition, the feature of the 5th invention is, in the 1st invention, also there is pressure controlled valve, it is when the pressure increase of the hydraulic oil of above-mentioned oil hydraulic cylinder is to its oil pressure relief, carry out starting and do and above-mentioned hydraulic oil is discharged to fuel tank, above-mentioned control gear is opened in control at above-mentioned connecting valve, pressure reduction between the pressure and the oil pressure relief of above-mentioned pressure controlled valve of the cylinder bottom side grease chamber of the above-mentioned oil hydraulic cylinder that above-mentioned 1st pressure detection mechanism detects exceedes the setting pressure preset, Closed control is carried out to above-mentioned connecting valve.

In addition, the feature of the 6th invention is, in any one of the 1st ~ 5th invention, also has: switch by aforesaid operations mechanism controls and by the hydraulic oil from above-mentioned oil hydraulic pump and be supplied to the control valve of above-mentioned oil hydraulic cylinder; And to be located between above-mentioned oil hydraulic cylinder with above-mentioned control valve and to make the expulsion valve that the hydraulic oil of the piston rod side grease chamber of above-mentioned oil hydraulic cylinder is communicated with fuel tank.

Invention effect

According to the present invention, can the piston rod speed of hydraulic control cylinder, make the rework solution force feed boosting the grease chamber discharged from oil hydraulic cylinder simultaneously, and the flow of the rework solution force feed flowed into hydraulic oil energy recycle device is reduced, therefore, it is possible to recovered energy can not be made with reducing to make the miniaturization of hydraulic oil energy recycle device.Its result is, can guarantee the operability equal with the engineering machinery of standard type, and seeks the raising of energy recovery efficiency.

Accompanying drawing explanation

Fig. 1 is the stereogram of the hydraulic shovel of the 1st mode of execution representing the hydraulic oil energy recycle device with Work machine of the present invention.

Fig. 2 is the skeleton diagram of the control system of the 1st mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention.

Fig. 3 is the performance plot of the horsepower curve of the 1st mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention.

Fig. 4 is the block diagram of the controller of the 1st mode of execution of the hydraulic oil energy recycle device forming Work machine of the present invention.

Fig. 5 is the flow chart of the contents processing of controller in the 1st mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention.

Fig. 6 is the performance plot be described the control content of controller of the 1st mode of execution of the hydraulic oil energy recycle device forming Work machine of the present invention.

Fig. 7 is the skeleton diagram of the control system of the 2nd mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention.

Fig. 8 is the block diagram of the controller of the 2nd mode of execution of the hydraulic oil energy recycle device forming Work machine of the present invention.

Embodiment

Below, use accompanying drawing that the mode of execution of the hydraulic oil energy recycle device of Work machine of the present invention is described.

Embodiment 1

Fig. 1 is the stereogram of the hydraulic shovel of the 1st mode of execution representing the hydraulic oil energy recycle device with Work machine of the present invention, and Fig. 2 is the skeleton diagram of the control system of the 1st mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention.

In FIG, hydraulic shovel 1 possesses: the apparatus for work 1A with the joint type of swing arm 1a, dipper 1b and scraper bowl 1c; With the vehicle body 1B with upper rotating body 1d and lower traveling body 1e.Swing arm 1a can be bearing on upper rotating body 1d rotationally, is driven by swing arm oil hydraulic cylinder (oil hydraulic cylinder) 3a.Upper rotating body 1d can be bearing on lower traveling body 1e rotatably.

Dipper 1b can be bearing on swing arm 1a rotationally, is driven by dipper oil hydraulic cylinder (oil hydraulic cylinder) 3b.Scraper bowl 1c can be bearing on dipper 1b rotationally, is driven by bucket hydraulic cylinder (oil hydraulic cylinder) 3c.In the operator cabin (cabin) that being driven through of swing arm oil hydraulic cylinder 3a, dipper oil hydraulic cylinder 3b and bucket hydraulic cylinder 3c is arranged on upper rotating body 1d and the operation equipment 4 (with reference to Fig. 2) of output hydraulic pressure signal control.

In the embodiment shown in figure 2, illustrate only the control system relevant to the swing arm oil hydraulic cylinder 3a operating swing arm 1a.This control system has control valve 2, operation equipment 4, Pilot operated check valve 8, connection control valve 9, reclaims switching valve 10, cylinder bottom side grease chamber lateral line switching valve 11, piston rod side grease chamber lateral line switching valve 12, discharges switching valve (expulsion valve) 13, electromagnetic proportional valve 14, the 1st ~ 4th electromagnetic switching valve 15 ~ 18, inverter 22, chopper 23, electric accumulator 24 and pressure transducer 34 ~ 36, has controller 100 as control gear.

As hydraulic power device, and there is oil hydraulic pump 6, the guide's oil hydraulic pump 7 supplying guide's hydraulic oil and fuel tank 6A.Oil hydraulic pump 6 and guide's oil hydraulic pump 7 are linked by live axle, and are driven by the motor 60 be connected with this live axle.

On the pipeline 40 that supplies to swing arm oil hydraulic cylinder 3a of hydraulic oil of self-hydraulic pump 6 in future, be provided with the control valve 2 of the direction of the hydraulic oil in pilot line and 4 port 3 position types of flow.Control valve 2 comes change-over pilot valve position by guide's hydraulic oil to the supply of its guide's compression zone 2a, 2b, and the hydraulic oil of self-hydraulic pump 6 drives swing arm 1a to swing arm oil hydraulic cylinder 3a supply in the future.

Supply has the ingress port of the control valve 2 from the hydraulic oil of oil hydraulic pump 6 to be connected with oil hydraulic pump 6 by pipeline 40.The outlet port of control valve 2 is connected with fuel tank 6A by return pipeline 43.

The connecting port of a side of control valve 2 is connected with the end side of the pipeline 40a of cylinder bottom side grease chamber 3ax, and another side of cylinder bottom side grease chamber pipeline 40a is connected with the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a.In addition, the connecting port of the opposing party of control valve 2 is connected with the end side of the pipeline 40b of piston rod side grease chamber 3ay, another side of piston rod side grease chamber pipeline 40b is connected with the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a.

On cylinder bottom side grease chamber lateral line 40a, be provided with the cylinder bottom side grease chamber pipeline switching valve 11 of the switching valve as 2 port 2 positions from control valve 2 side successively, reclaim branch 40a1, connected component portion 40a2, overflow branch 40a3, Pilot operated check valve 8 and the pressure transducer 34 as the 1st pressure detection mechanism.Recovery branch 40a1 is connected with reclaim line 42, is connected with cylinder bottom side grease chamber connecting pipeline 41a at connected component portion 40a2.

In addition, on overflow branch 40a3, be connected with the inlet side of the 1st overload relief valve 30 only allowing the outlet side of the 1st replenish valve 31 sucked and when the pressure of cylinder bottom side grease chamber pipeline 40a becomes setting pressure above high pressure, working oil is released into fuel tank 6A, the inlet side of the 1st replenish valve 31 and the 1st outlet side transshipping relief valve 30 are connected on the pipeline that is communicated with fuel tank 6A.The generation of the cavitation phenomenon that the 1st replenish valve 31 causes for the negative pressure prevented because of cylinder bottom side grease chamber pipeline 40a.The damage of the pipe arrangement that the 1st overload relief valve 30 causes for the pressure increase prevented because of the hydraulic oil in cylinder bottom side grease chamber pipeline 40a or equipment.

Cylinder bottom side grease chamber pipeline switching valve 11 at one end side has spring 11b, there is in another side guide's compression zone 11a, change-over pilot valve position is come to the supply of its guide's compression zone 11a, being communicated with/blocking and control the hydraulic oil between control valve 2 and the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a according to or without guide's hydraulic oil.For guide's compression zone 11a, to supply via the 2nd electromagnetic switching valve 16 described later from guide's oil hydraulic pump 7 and have guide's hydraulic oil.

Pressure transducer 34 (the 1st pressure detection mechanism) as detect swing arm oil hydraulic cylinder 3a cylinder bottom side grease chamber hydraulic oil pressure and be converted to the signal switching mechanism of the electrical signal corresponding with this pressure and play a role, and be configured to the electrical signal be converted to be exported to controller 100.

On piston rod side grease chamber pipeline 40b, be provided with the piston rod side grease chamber pipeline switching valve 12 of the switching valve as 3 port 2 positions from control valve 2 side successively, return branch 40b1, connected component portion 40b2, overflow branch 40b3 and the pressure transducer 35 as the 2nd pressure detection mechanism.Returning pipeline branch 40b1 being connected with the discharge switching valve (expulsion valve) 13 via the switching valve as 2 port 2 positions and being communicated with fuel tank 6A, connected component portion 40b2 is connected with piston rod side grease chamber connecting pipeline 41b.

In addition, overflow branch 40b3 is connected with the inlet side of the 2nd overload relief valve 32 only allowing the outlet side of the 2nd replenish valve 33 sucked and when the pressure of cylinder bottom side grease chamber pipeline 40b becomes setting pressure above high pressure, working oil is released into fuel tank 6A, and the inlet side of the 2nd replenish valve 33 and the 2nd outlet side transshipping relief valve 32 are connected on the pipeline that is communicated with fuel tank 6A.The generation of the cavitation phenomenon that the 2nd replenish valve 33 causes for the negative pressure prevented because of piston rod side grease chamber pipeline 40b.The damage of the pipe arrangement that the 2nd overload relief valve 32 causes for the pressure increase prevented because of the hydraulic oil in piston rod side grease chamber pipeline 40b or equipment.

Piston rod side grease chamber pipeline switching valve 12 at one end side has spring 12b, has guide's compression zone 12a in another side, comes change-over pilot valve position according to or without guide's hydraulic oil to the supply of its guide's compression zone 12a.When guide's compression zone 12a is not subject to the pressurization of guide's hydraulic oil, become the spool position that the hydraulic oil of being discharged by oil hydraulic pump 6 supplies to the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a via control valve 2, when guide's compression zone 12a is subject to the pressurization of guide's hydraulic oil, becomes the hydraulic oil of being discharged by oil hydraulic pump 6 and discharge to fuel tank 6A and block the spool position of hydraulic oil to the discharge of fuel tank 6A of piston rod side grease chamber pipeline 40b.For guide's compression zone 12a, there is guide's hydraulic oil from guide's oil hydraulic pump 7 via the 4th electromagnetic switching valve 18 supply described later.

Discharge switching valve 13 and at one end there is side spring 13b, there is in another side guide's compression zone 13a, come change-over pilot valve position according to or without guide's hydraulic oil to the supply of its guide's compression zone 13a, the hydraulic oil in control piston Gan Ce grease chamber pipeline 40b is to the discharge/block of fuel tank 6A.For guide's compression zone 13a, there is guide's hydraulic oil from guide's oil hydraulic pump 7 via the 3rd electromagnetic switching valve 17 supply described later.

Pressure transducer 35 (the 2nd pressure detection mechanism) as detect swing arm oil hydraulic cylinder 3a piston rod side grease chamber 3ay hydraulic oil pressure and be converted to the signal switching mechanism of the electrical signal corresponding with this pressure and play a role, be configured to the electrical signal be converted to be exported to controller 100.

End side is connected with connected component portion 40b2 by the piston rod side grease chamber connecting pipeline 41b of piston rod side grease chamber pipeline 40b, the outlet port of another side with the connection control valve 9 of the switching control valve as 2 port 2 positions is connected.End side is connected to another side of the cylinder bottom side grease chamber connecting pipeline 41a be connected with the connected component portion 40a2 of cylinder bottom side grease chamber pipeline 40a by the ingress port being communicated with control valve 9.By cylinder bottom side grease chamber connecting pipeline 41a, be communicated with control valve 9 and piston rod side grease chamber connecting pipeline 41b and form connecting pipeline 41, connecting pipeline 41 can carry out flow control limit to the rework solution force feed limit of the cylinder bottom side grease chamber 3ax carrying out robot arm oil hydraulic cylinder 3a and import to the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a.

Be communicated with control valve 9 and at one end there is side spring 9b, there is in another side guide's compression zone 9a, carry out the oily opening area passed through of hydraulic control according to guide's hydraulic oil to the value of the supply pressure of its guide's compression zone 9a.Thereby, it is possible to the flow of rework solution force feed that the cylinder bottom side grease chamber 3ax controlling slave arm oil hydraulic cylinder 3a flows into piston rod side grease chamber 3ay.

The spool position of control valve 2 carrys out handover operation by the operation of the operating stem of operation equipment 4 etc.Operation equipment 4 is provided with pilot valve 5, pilot valve 5 produces guide's 2 hydraulic oil with the corresponding first pilot Pu of operation amount operating (swing arm lifting direction operation) that fascinates in a direction the figure of operating stem etc. from guide's 1 hydraulic oil, wherein, this guide 1 hydraulic oil supplies from guide's oil hydraulic pump 7 via not shown guide's 1 side oil circuit.This guide 2 hydraulic oil supply to guide's compression zone 2a of control valve 2 via guide 2 side oil circuit 50a, and control valve 2 and first pilot Pu are correspondingly switched/control.

Similarly, pilot valve 5 produces guide's 2 hydraulic oil with the corresponding first pilot Pd of operation amount operating (swing arm descent direction operates) that fascinates in b direction on the figure of operating stem etc.This guide 2 hydraulic oil supply to guide's compression zone 2b of control valve 2 via guide 2 side oil circuit 50b, and control valve 2 and first pilot Pd are correspondingly switched/control.

Therefore, the guiding valve of control valve 2 correspondingly moves with first pilot Pu, the Pd inputing to these 2 guide's compression zones 2a, 2b, switches direction and the flow of the hydraulic oil supplied from oil hydraulic pump 6 to swing arm oil hydraulic cylinder 3a.

Guide's 2 hydraulic oil of first pilot Pd also supply to Pilot operated check valve 8 via guide 2 side oil circuit 50b.Pilot operated check valve 8 is pressed with guide and presses Pd because adding and carry out starting work.Thus, the hydraulic oil of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a is directed to cylinder bottom side grease chamber pipeline 40a.Pilot operated check valve 8 surprisingly flows into (swing arm whereabouts) to cylinder bottom side grease chamber pipeline 40a for preventing hydraulic oil slave arm oil hydraulic cylinder 3a, usually blocks loop, and opens loop by the pressurization of guide's hydraulic oil.

Guide 2 side oil circuit 50b are provided with pressure transducer 36 (first pilot feeler mechanism).This pressure transducer 36 as the pilot valve 5 detecting operation equipment 4 the first pilot Pd in decline side and be converted to the signal switching mechanism of the electrical signal corresponding with this pressure and play a role, and be configured to the electrical signal be converted to be exported to controller 100.

Then, power recovery apparatus 70 is described.As shown in Figure 2, power recovery apparatus 70 has reclaim line 42, connecting pipeline 41, electromagnetic proportional valve 14, the 1st ~ 4th electromagnetic switching valve 15 ~ 18, oil hydraulic motor 20, generator 21, inverter 22, chopper 23, electric accumulator 24 and controller 100.

Reclaim line 42 has the oil hydraulic motor 20 of the generator 21 reclaiming switching valve 10 and be mechanically connected with the downstream side being arranged on this recovery switching valve 10, and via this oil hydraulic motor 20, the rework solution force feed of the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a guides to fuel tank 6A in the future.When rework solution force feed when being declined by swing arm is directed into reclaim line 42 and oil hydraulic motor 20 is rotated, generator 21 rotates and generates electricity, and its electric energy is via inverter 22, store to electric accumulator 24 for the chopper 23 boosted.

Reclaim switching valve 10 and at one end there is side spring 10b, there is in another side guide's compression zone 10a, come change-over pilot valve position according to or without guide's hydraulic oil to the supply of its guide's compression zone 10a, and control the inflow of rework solution force feed to oil hydraulic motor 20 of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a/block.For guide's compression zone 10a, to supply via the 1st electromagnetic switching valve 15 described later from guide's oil hydraulic pump 7 and have guide's hydraulic oil.

In addition, the oil hydraulic motor 20 during swing arm step-down operation and the rotating speed of generator 21 are controlled by inverter 22.When passing through the rotating speed of inverter 22 hydraulic control motor 20 like this, the flow of the hydraulic oil passed through from oil hydraulic motor 20 can be adjusted, therefore, it is possible to adjust the flow of the rework solution force feed flowed into from cylinder bottom side grease chamber 3ax to reclaim line 42.That is, the inverter 22 in present embodiment as control reclaim line 42 hydraulic oil flow flow control mechanism and play a role.

Connecting pipeline 41, via connection control valve 9, carries out flow control limit to the rework solution force feed limit of the cylinder bottom side grease chamber 3ax carrying out robot arm oil hydraulic cylinder 3a and guides to the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a.In the guide's compression zone 9a being communicated with control valve 9, input has the guide's hydraulic oil exported via electromagnetic proportional valve 14 from guide's oil hydraulic pump 7.The guiding valve being communicated with control valve 9 correspondingly moves with the pressure of the guide's hydraulic oil inputing to guide's compression zone 9a, therefore, controls the opening area passed through for hydraulic oil.Thereby, it is possible to the flow of rework solution force feed that the cylinder bottom side grease chamber 3ax controlling slave arm oil hydraulic cylinder 3a flows into piston rod side grease chamber 3ay.

Guide's 1 hydraulic oil supplied from guide's oil hydraulic pump 7, according to the command signal carrying out self-controller 100, is converted to guide's 2 hydraulic oil of desired pressure and exports to the guide's compression zone 9a being communicated with control valve 9 by electromagnetic proportional valve 14.Thus, adjust from cylinder bottom side grease chamber 3ax by being communicated with the flow (that is, the flow of the rework solution force feed flowed in connecting pipeline 41) returning oil of control valve 9.That is, the electromagnetic proportional valve 14 in present embodiment as control connecting pipeline 41 flow flow control mechanism and play a role.

In the input port of electromagnetic proportional valve 14 in the present embodiment, input has the hydraulic oil exported from guide's oil hydraulic pump 7.In the operation unit of side's electromagnetic proportional valve 14, input has the command value exported from the electromagnetic proportional valve output value operational part described later 104 (with reference to Fig. 4) of controller 100.Adjust the spool position of electromagnetic proportional valve 14 according to this command value, thus, suitably adjustment is from guide's oil hydraulic pump 7 to the pressure of guide's hydraulic oil of guide's compression zone 9a supply of connection control valve 9.

1st electromagnetic switching valve 15, according to the command signal carrying out self-controller 100, controls guide's hydraulic oil of supplying from guide's oil hydraulic pump 7 to the supply/block of pilot operated portion 10a of reclaiming switching valve 10.

2nd electromagnetic switching valve 16, according to the command signal carrying out self-controller 100, controls the supply/block to the pilot operated portion 11a of cylinder bottom side grease chamber pipeline switching valve 11 of guide's hydraulic oil of supplying from guide's oil hydraulic pump 7.

3rd electromagnetic switching valve 17, according to the command signal carrying out self-controller 100, controls guide's hydraulic oil of supplying from guide's oil hydraulic pump 7 to the supply/block of pilot operated portion 13a of discharging switching valve 13.

4th electromagnetic switching valve 18, according to the command signal carrying out self-controller 100, controls the supply/block to the pilot operated portion 12a of piston rod side grease chamber lateral line switching valve 12 of guide's hydraulic oil of supplying from guide's oil hydraulic pump 7.

In each input port of 1st ~ 4 electromagnetic switching valves 15 ~ 18, input has the hydraulic oil exported from guide's oil hydraulic pump 7, in the operation unit of 1st ~ 4 electromagnetic switching valves 15 ~ 18, input has the command signal exported from the switching valve sequence control operational part described later 102 (with reference to Fig. 4) of controller 100 respectively.

Controller 100 inputs the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a from pressure transducer 34, the pressure of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a is inputted from pressure transducer 35, from the first pilot Pd in the decline side of the pilot valve 5 of pressure transducer 36 input operating device 4, and carry out the computing corresponding to these input values, determine whether the energy regenerating performing rework solution force feed, and when energy regenerating performs, control as follows: by electromagnetic proportional valve 14, 1st ~ 4 electromagnetic switching valves 15 ~ 18 and inverter 22 export control command, control the flow carrying out the rework solution force feed of robot arm oil hydraulic cylinder 3a passed through from connecting pipeline 41, the pressure of the rework solution force feed flowed into reclaim line 42 is made to increase and flow is reduced.Thus, control the piston rod speed of swing arm oil hydraulic cylinder 3a, the rework solution force feed boosting simultaneously making the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a discharge, the flow of the rework solution force feed flowed into oil hydraulic motor 20 is reduced, therefore, it is possible to recovered energy can not be made with reducing to make the miniaturization of hydraulic oil energy recycle device.

Then, the summary of each several part action using Fig. 2 Benq to realize in the operation of operation equipment 4.

First, when the operating stem of operation equipment 4 is fascinated operation to a direction (swing arm lifting direction), be applied to guide's compression zone 2a of control valve 2 from the first pilot Pu of pilot valve 5 generation, control valve 2 is switched operation.Thus, the hydraulic oil from oil hydraulic pump 6 guides to cylinder bottom side grease chamber lateral line 40a via cylinder bottom side grease chamber lateral line switching valve 11, and flows into via the cylinder bottom side grease chamber 3ax of Pilot operated check valve 8 to swing arm oil hydraulic cylinder 3a.Its result is, swing arm oil hydraulic cylinder 3a carries out elongation action.

Thereupon, the rework solution force feed that the piston rod side grease chamber 3ay of slave arm oil hydraulic cylinder 3a discharges is passed through from piston rod side grease chamber pipeline 40b, piston rod side grease chamber pipeline switching valve 12, control valve 2 and is guided to fuel tank 6A.Now, be communicated with control valve 9 and close, therefore in connecting pipeline 41, there is no flow force feed, reclaim switching valve 10 and also close, therefore in reclaim line 42, also do not flow into hydraulic oil.

Then, when the operating stem of operation equipment 4 is fascinated operation to b direction (swing arm descent direction), the first pilot Pd generated from pilot valve 5 to be detected by pressure transducer 36 and to input to controller 100.In addition, controller 100, based on the pressure of the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a detected by pressure transducer 34, determines whether the energy regenerating performing rework solution force feed.

When being judged as the energy regenerating not performing rework solution force feed, be applied to guide's compression zone 2b and the Pilot operated check valve 8 of control valve 2 from the first pilot Pd of pilot valve 5 generation, control valve 2 is switched operation, and Pilot operated check valve 8 carries out starting work.Thus, the hydraulic oil from oil hydraulic pump 6 guides to piston rod side grease chamber pipeline 40b via piston rod side grease chamber pipeline switching valve 11, and flows into the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a.Its result is, swing arm oil hydraulic cylinder 3a carries out retract action.Thereupon, the rework solution force feed that the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a discharges is passed through from Pilot operated check valve 8, cylinder bottom side grease chamber pipeline 40a, cylinder bottom side grease chamber pipeline switching valve 11, control valve 2 and is guided to fuel tank 6A.Now, be communicated with control valve 9 and close, therefore in connecting pipeline 41, there is no flow force feed, reclaim switching valve 10 and also close, therefore in reclaim line 42, also do not flow into hydraulic oil.

On the other hand, when being judged as the energy regenerating performing rework solution force feed, the pressure that controller 100 is taken into the piston rod side grease chamber 3ay of the swing arm oil hydraulic cylinder 3a detected by pressure transducer 35 is further gone forward side by side row operation, to the 1st, 2,4 electromagnetic switching valves export respectively and recovery switching valve 10 are switched to open state, cylinder bottom side grease chamber pipeline switching valve 11 is switched to closed state, piston rod side grease chamber pipeline switching valve 12 switched to the instruction of closed state.Thus, the hydraulic oil from oil hydraulic pump 6 is discharged to fuel tank 6A, and the rework solution force feed carrying out the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a is truncated to the outflow of control valve 2 side.

Controller 100 exports control command according to inputted each pressure to electromagnetic proportional valve 14.Its result is, applies first pilot to the guide's compression zone 9a being communicated with control valve 9, controls the opening area being communicated with control valve 9.Thus, the rework solution force feed carrying out the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a guides to the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a via connecting pipeline 41 and piston rod side grease chamber pipeline 40b, and swing arm oil hydraulic cylinder 3a carries out retract action.Thereupon, the rework solution force feed that the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a discharges is pressurized.

Now, first pilot Pd guides to Pilot operated check valve 8 via guide 2 side oil circuit 50b from pilot valve 5 as operation pressure, and therefore Pilot operated check valve 8 carries out starting work.Thus, a part for the rework solution force feed of the cylinder bottom side grease chamber 3ax discharge of slave arm oil hydraulic cylinder 3a guides to oil hydraulic motor 20 via recovery switching valve 10, and the generator 21 be connected with oil hydraulic motor 20 carries out generating action.The electric energy obtained that generates electricity stores to electric accumulator 24.Now, the flow of the rework solution force feed of the cylinder bottom side grease chamber 3ax discharge of slave arm oil hydraulic cylinder 3a is divided into the part flowing into connecting pipeline 41 and the part flowing into reclaim line 42, therefore, it is possible to make the flow of the rework solution force feed flowed into reclaim line 42 reduce.

On the other hand, controller 100 judges state according to the pressure signal of the signal of inputted first pilot Pd, the pressure signal of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a and the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a, calculates, exports the control command value of the command value to 1st ~ 4 electromagnetic switching valves 15 ~ 18, the command value to electromagnetic proportional valve 14 and the inverter 22 to the control gear as generator 21.Its result is, in swing arm down maneuver, the flow of the rework solution force feed that the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a discharges is to oil hydraulic motor 20 side (recovery flow) guiding being communicated with control valve 9 side (connecting pipeline flow) and reclaim, and therefore while guaranteeing operability, carries out appropriate recovery action.

Then, use Fig. 3 and Fig. 4 that the summary of the control of controller 100 is described.Fig. 3 is the performance plot of the horsepower curve of the 1st mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention, and Fig. 4 is the block diagram of the controller of the 1st mode of execution of the hydraulic oil energy recycle device forming Work machine of the present invention.In Fig. 3 and Fig. 4, the reference character identical with the reference character shown in Fig. 1 and Fig. 2 represents with a part, therefore omits it and illustrates.

In figure 3, transverse axis is the pressure P of the rework solution force feed to recovering device inflow, and the longitudinal axis is the flow Q of the rework solution force feed to recovering device inflow, represents the characteristic of the horsepower curve of recovering device with the solid line of characteristic line a.At this, the pressure versus flow of the rework solution force feed flowed out at the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a is in the state (P1 of < 1 >, Q1) when, flow Q1 exceedes the peak rate of flow Qmax of recovering device, therefore cannot reclaim the energy (part represented with oblique line) of the rework solution force feed of the part exceeding peak rate of flow Qmax.

On the other hand, if the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a supplies a part of rework solution force feed via connecting pipeline 41 to the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a, then can be transferred to the state (P2, Q2) of < 2 >.Thus, such as, the pressure P 1 of the rework solution force feed of < 1 > can be made to be roughly 2 times of pressure P 2, flow Q1 similarly can be made to be the roughly half of flow Q2.Under the state of < 2 >, recovering device can reclaim the energy of whole rework solution force feed, therefore can increase energy regenerating amount compared with the state of < 1 >.

In the present embodiment, controller 100 controls to be communicated with flow and the pressure that the opening area of control valve 9 controls the hydraulic oil supplied to the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a via connecting pipeline 41, is controlled the flow of the hydraulic oil flowed into oil hydraulic motor 20 from reclaim line 42 by generator 21 and inverter 22.

Controller 100 shown in Fig. 4 has pressure comparing and computing unit 101, switching valve sequence control operational part 102, connection control valve opening area operational part 103, electromagnetic proportional valve output value operational part 104, reclaims target flow operational part 105 and generator command value operational part 106.

As shown in Figure 4, pressure comparing and computing unit 101 carries out the 1st computing, 2nd computing and the 3rd computing, wherein, 1st computing is the pressure of the cylinder bottom side grease chamber 3ax inputting the swing arm oil hydraulic cylinder 3a detected by pressure transducer 34, the pressure of the piston rod side grease chamber 3ay of the swing arm oil hydraulic cylinder 3a detected by pressure transducer 35, the first pilot Pd in decline side of the pilot valve 5 of the operation equipment 4 detected by pressure transducer 36 judges the computing of starting work could carrying out being communicated with control valve 9, 2nd computing is the computing of the control mode switching connection control valve 9 described later, the computing of the switching signal of discharge switching valve 13 is made a living in 3rd computing.

First, the 1st computing is described.When the area of the piston by the piston rod side grease chamber 3ay in swing arm oil hydraulic cylinder 3a be set to Ar, the area of the piston of the cylinder bottom side grease chamber 3ax in swing arm oil hydraulic cylinder 3a is set to Ab time, if swing arm carries out down maneuver, be communicated with control valve 9 to carry out starting work, then the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a is maximum and boosts to Ab/Ar doubly.In common hydraulic shovel, the area A b of the piston of cylinder bottom side grease chamber 3ax is about 2 times of the area A r of the piston of piston rod side grease chamber 3ay, and therefore, the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a boosts to roughly 2 times.Thus, carry out starting when doing when making connection control valve 9 under the state that the pressure of former cylinder bottom side grease chamber 3ax is high, worry can damage pipe arrangement or equipment.

Therefore, in the 1st computing, carry out the computing of following numerical expression (1).

Pb1×Ab/Ar－Polr＞Pset1····(1)

At this, Pb1 is communicated with the pressure that control valve 9 carries out the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a before starting work, and Polr is the setting pressure of the 1st overload relief valve 30, and Pset1 allows setting pressure reduction for reclaiming.

According to numerical expression (1), make if be judged as connection control valve 9 carry out starting do and the pressure and the 1st of the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a of boosting transship relief valve 30 setting pressure between pressure reduction exceed to reclaim and allow to set pressure reduction Pset1, then export for boosting and not carrying out the instruction of energy regenerating to switching valve sequence control operational part 102.On the other hand, if be judged as, this pressure reduction allows setting below pressure reduction Pset1 for reclaiming, then export for carrying out the instruction of reclaiming to switching valve sequence control operational part 102.

The selection of 2nd computing for making connection control valve 9 carry out control mode when starting work.Start work by what be communicated with control valve 9, the cylinder bottom side grease chamber 3ax of hydraulic oil slave arm oil hydraulic cylinder 3a flows into piston rod side grease chamber 3ay, with the pressure of cylinder bottom side grease chamber 3ax together, the pressure increase of piston rod side grease chamber 3ay.Now, the pressure reduction between the pressure of cylinder bottom side grease chamber 3ax and the pressure of piston rod side grease chamber 3ay is monitored, in order to the computing selecting control mode to carry out following numerical expression (2).

Pb2－Pr2＞Pset2····(2)

At this, Pb2 is the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a, and Pr2 is the pressure of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a, and Pset2 is adjustment setting pressure reduction.

According to numerical expression (2), make if be judged as connection control valve 9 carry out starting and to do and pressure reduction between the pressure of the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a of boosting and the pressure of piston rod side grease chamber 3ay exceedes adjust and set pressure reduction Pset2, then export to being communicated with control valve opening area operational part 103 instruction adjusting control for carrying out opening area.On the other hand, if be judged as, this pressure reduction is for adjustment setting below pressure reduction Pset2, then export the instruction for carrying out the control of opening standard-sized sheet to connection control valve opening area operational part 103.After the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a boosts and terminates, whether the flow of hydraulic oil judging the connecting pipeline 41 flowed into piston rod side grease chamber 3ay is fixing, when the flow of hydraulic oil is fixing, in order to make the pressure loss be minimum, and carry out the control of opening standard-sized sheet.

The switching signal of switching valve 13 is discharged in 3rd computing for generating.Start work by what be communicated with control valve 9, with the pressure of cylinder bottom side grease chamber 3ax together, the pressure increase of piston rod side grease chamber 3ay.After this, such as, in the operating stem of operation equipment 4 is back to immediately, be communicated with control valve 9 and shift to closed state from open state, but the hydraulic pressure oil condition remain boosting in piston rod side grease chamber pipeline 40b after can be susceptible to.Therefore, monitor the pressure reduction between the pressure of cylinder bottom side grease chamber 3ax and the pressure of piston rod side grease chamber 3ay, control to carry out discharge to Liquid Residue force feed, and carry out the computing of following numerical expression (3).

Pr2－Pb2＞Pset3····(3)

At this, Pb2 is the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a, and Pr2 is the pressure of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a, and Pset3 is for switching setting pressure reduction.

According to numerical expression (3), after the energy regenerating carrying out hydraulic oil, if the pressure reduction being judged as between the pressure of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a and the pressure of cylinder bottom side grease chamber 3ax exceedes to switch set pressure reduction Pset3, then in order to make piston rod side grease chamber pipeline 40b be communicated with fuel tank 6A, and export the instruction that discharge switching valve 13 is switched to switching valve sequence control operational part 102.

Switching valve sequence control operational part 102 is the parts of the control command carrying out computing 1st ~ 4 switching solenoid valve 15 ~ 18 based on the instruction exported from pressure comparing and computing unit 101.

When inputting the instruction for carrying out energy regenerating from pressure comparing and computing unit 101, to the 1st, 2,4,3 electromagnetic switching valves export respectively and switch to reclaiming switching valve 10 open state, cylinder bottom side grease chamber pipeline switching valve 11 are switched to closed state, piston rod side grease chamber pipeline switching valve 12 are switched to closed state, will discharge switching valve 13 and switch to the instruction of closed state.Thus, the hydraulic oil from oil hydraulic pump 6 is discharged to fuel tank 6A, and the rework solution force feed carrying out the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a is truncated to the outflow of control valve 2 side.

On the other hand, when input from pressure comparing and computing unit 101 do not carry out the instruction of reclaiming time, to the 1st, 2,4,3 electromagnetic switching valves export respectively and switch to reclaiming switching valve 10 closed state, cylinder bottom side grease chamber pipeline switching valve 11 are switched to open state, piston rod side grease chamber pipeline switching valve 12 are switched to open state, will discharge switching valve 13 and switch to the instruction of closed state.Thus, do not carry out the energy regenerating based on swing arm down maneuver, the controlled valve 2 processed of rework solution force feed carrying out the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a carries out flow adjustment and discharges to fuel tank 6A.

As shown in Figure 4, be communicated with pressure that control valve opening area operational part 103 inputs the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a detected by pressure transducer 34, the pressure of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a detected by pressure transducer 35, the first pilot Pd in decline side of pilot valve 5, the control mode selection instruction from pressure comparing and computing unit 101 of operation equipment 4 that are detected by pressure transducer 36, carry out the opening area control command that computing is communicated with control valve 9.

First, illustrating from pressure comparing and computing unit 101 input has opening area to adjust the situation of control command.In the present embodiment, when the piston rod of swing arm oil hydraulic cylinder 3a shrinks, boost to make the pressure of cylinder bottom side grease chamber 3ax, by when being set to Qr0 with the movement because of piston rod and the flow of hydraulic oil that the volume of piston rod side grease chamber 3ay that changes correspondingly sucks, control in the mode that the hydraulic oil of the flow of k × Qr0 can be made to be communicated with from cylinder bottom side grease chamber 3ax to piston rod side grease chamber 3ay the opening area A being communicated with control valve 9.At this, as shown in numerical expression (4), constant k becomes the value larger than the area ratio Ar/Ab of the area A b of the area A r of the piston of piston rod side grease chamber 3ay and the piston of cylinder bottom side grease chamber 3ax.

k＞Ar/Ab····(4)

That is, the piston rod of swing arm oil hydraulic cylinder 3a is to shrinkage direction action, is supplied by the flow of the hydraulic oil more than the volume change of piston rod side grease chamber 3ay to piston rod side grease chamber 3ay, and the hydraulic oil of cylinder bottom side grease chamber 3ax can be made thus to compress and boost.If the value of constant k is too high, then excessively can send into hydraulic oil to piston rod side grease chamber 3ay, rise to more than necessity with causing the hydraulic transition of cylinder bottom side grease chamber 3ax.Therefore, be difficult to be and congruence that the movement of piston rod can be chaotic by the speeds control of piston rod.In order to piston rod speeds control is keep good movement with congruence by limit, the hydraulic pressure of Bian Shi piston rod side grease chamber 3ay, the hydraulic pressure boosting of cylinder bottom side grease chamber 3ax, and need the value setting coefficient k rightly.

Then, the circular of the opening area A being communicated with control valve 9 is described.When what first for the decline side of the pilot valve 5 from the operation equipment 4 detected by pressure transducer 36 pilot Pd was determined, the flow carrying out the hydraulic oil of the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a is set to target cylinder bottom flow Qb0, the flow of the hydraulic oil correspondingly sucked by the volume of the piston rod side grease chamber 3ay changed with the movement because of piston rod is set to Qr0, Q is set to by from the flow being communicated with the hydraulic oil that control valve 9 passes through, the speed of piston rod is set to V, the pressure of cylinder bottom side grease chamber 3ax is set to Pb, the pressure of piston rod side grease chamber 3ay is set to Pr, the area of the piston of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a is set to Ar, when the area of the piston of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a is set to Ab, can calculate as shown below.

Qb0＝Ab·V····(5)

Qr0＝Ar·V····(6)

Numerical expression (5) is substituting to numerical expression (6) and arranges and calculate numerical expression (7).

Qr0＝Ar/Ab·Qb0····(7)

At this, for the flow Q being communicated with control valve 9, be suitable for common aperture (orifice) numerical expression and calculate numerical expression (8).

$Q=CA\sqrt{\mathrm{}}(Pb-\mathrm{Pr})\mathrm{....}\left(8\right)$

At this, C is flow coefficient.In piston rod side grease chamber 3ay, there is the flow of the k hydraulic oil doubly based on the inhalation flow Qr0 of Volume Changes, therefore, it is possible to represented by numerical expression (9) as shown below via being communicated with control valve 9 feeding.

Q＝k·Qr0····(9)

Numerical expression (8), numerical expression (7) are substituting in numerical expression (9), arrangement is carried out to calculate numerical expression (10) to A.

$A=Ar\&CenterDot;k\&CenterDot;Qb0/(Ab\&CenterDot;C\sqrt{\mathrm{}}(Pb-\mathrm{Pr}))\mathrm{....}\left(10\right)$

As implied above, the opening area A being communicated with control valve 9 is controlled based on numerical expression (10), thereby, it is possible to piston rod speeds control is keep good movement with congruence by limit, the hydraulic pressure of Bian Shi piston rod side grease chamber 3ay, the hydraulic pressure boosting of cylinder bottom side grease chamber 3ax.

Then, the situation having opening standard-sized sheet control command from pressure comparing and computing unit 101 input is described.When being controlled by the adjustment of above-mentioned opening area, when adjustment is communicated with the opening area of control valve 9 and the pressure of cylinder bottom side grease chamber 3ax and piston rod side grease chamber 3ay is boosted gradually, when being communicated with the opening of control valve 9 and being fully large, the hydraulic pressure of cylinder bottom side grease chamber 3ax and the hydraulic pressure of piston rod side grease chamber 3ay become roughly the same pressure and end of boosting.In this condition, can not boost further, the value obtained to the flow Q of the connection control valve 9 of piston rod side grease chamber 3ay inflow with the area ratio (Ar/Ab) being multiplied by cylinder bottom side grease chamber and piston rod side grease chamber to target cylinder bottom flow Qb0 in addition remains fixing.

Namely, the hydraulic pressure boosting of cylinder bottom side grease chamber 3ax terminates and the flow flowing to the connected loop of piston rod side grease chamber 3ay becomes fixing situation is judged out according to the pressure reduction between the hydraulic pressure of cylinder bottom side grease chamber 3ax and the hydraulic pressure of piston rod side grease chamber 3ay, and this situation judged is exported and as the opening standard-sized sheet control command exported from pressure comparing and computing unit 101.Therefore, be communicated with control valve opening area operational part 103 replace the opening area instruction of above-mentioned connection control valve 9 and export standard-sized sheet instruction.

Be communicated with control valve opening area operational part 103 the opening area instruction of above-mentioned connection control valve 9 or standard-sized sheet instruction are exported to electromagnetic proportional valve output value operational part 104 and recovery target flow operational part 105.

Electromagnetic proportional valve output value operational part 104 is in order to realize by being communicated with the opening area A of the connection control valve 9 that control valve opening area operational part 103 calculates and the output value of electromagnetic proportional valve 14 that needs (namely, pressure (first pilot) from the hydraulic pressure signal that electromagnetic proportional valve 14 exports to the guide's compression zone 9a being communicated with control valve 9) carry out computing, and export the part of the command value that the output value for making this calculate exports from electromagnetic proportional valve 14 to electromagnetic proportional valve 14.Input has the electromagnetic proportional valve 14 of the output value calculated by electromagnetic proportional valve output value operational part 104 based on this output value to connection control valve 9 output function signal, and in connecting pipeline 41, flowing has and returns oil by what be communicated with flow that control valve opening area operational part 103 calculates thus.

Reclaim target flow operational part 105 and carry out computing based on reclaiming flow by the opening area instruction etc. being communicated with the connection control valve 9 that control valve opening area operational part 103 calculates to the target of recovering device.At this, when outputing opening area instruction, when recovery side target flow is set to Qk0, can be calculated by numerical expression (11) and numerical expression (12) as shown below.

Qk0＝Qb0－Q····(11)

Numerical expression (8) is substituting to numerical expression (11) and calculates numerical expression (12).

$\mathrm{Qk}0=\mathrm{Qb}0-\mathrm{CA}\sqrt{\mathrm{}\mathrm{}}(Pb-\mathrm{Pr})\mathrm{....}\left(12\right)$

On the other hand, when outputing standard-sized sheet instruction, can be calculated by following numerical expression (13).

Qk0＝Qb0(1－Ar/Ab)····(13)

Reclaim target flow operational part 105 and export above-mentioned recovery side target flow Qk0 to generator command value operational part 106.

Generator command value operational part 106 carries out computing to the rotating speed in order to be sucked the oil hydraulic motor 20 needed by reclaiming recovery side target flow Qk0 that target flow operational part 105 calculates by the oil hydraulic motor 20 of reclaim line 42, and export the rotational speed command value for making oil hydraulic motor 20 rotate with this rotating speed calculated to inverter 22.The inverter 22 that have input the rotational speed command value calculated by generator command value operational part 106 makes oil hydraulic motor 20 and generator 21 rotate based on this rotational speed command value, and in reclaim line 42, flowing has and returns oil by what reclaim flow that target flow operational part 105 calculates thus.At this, when the rotating speed of target of generator 21 being set to N0, when the volume of oil hydraulic motor 20 is set to q, can be calculated by numerical expression (14) as shown below.

N0＝Qk0/q····(14)

Generator command value operational part 106 is to become the mode of the rotating speed of target obtained by numerical expression (14) to the instruction of inverter 22 output speed.

Then, use Fig. 5 and Fig. 6 that step and each several part characteristic of the contents processing of the controller 100 in present embodiment are described.Fig. 5 is the flow chart of the contents processing of controller in the 1st mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention, and Fig. 6 is the performance plot that the control content of the controller of the 1st mode of execution to the hydraulic oil energy recycle device forming Work machine of the present invention is described.In Fig. 5 and Fig. 6, the reference character identical with the reference character shown in Fig. 1 to Fig. 4 represents with a part, therefore omits it and illustrates.

First, controller 100 judges whether to be in (step S1) in swing arm step-down operation.Particularly, judge that whether the first pilot Pd detected by pressure transducer 36 is higher than the setting pressure preset.When first pilot Pd is higher than setting pressure, is judged as being in swing arm step-down operation, advances to (step S2), be back to when in addition (step S1).

Controller 100 in order to determine the recovery can carrying out hydraulic oil energy, and judge to be communicated with pressure and the 1st that control valve 9 carries out the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a before starting work transship relief valve 30 setting pressure between pressure reduction whether allow to set pressure reduction Pset1 high (step S2) than the recovery preset.When the pressure reduction calculated allows setting pressure reduction Pset1 high than recovery, (step S15) is advanced in order to realize common swing arm decline control with not carrying out recovery action, when in addition, advance to (step S3) to carry out recovery action control.

First, illustrate that the common swing arm decline after (step S15) controls.Controller 100 proceeds the Closed control being communicated with control valve 9, the instruction (step S15) of the closed state that exports respectively to the 1st, 2,4,3 electromagnetic switching valves 15,16,18,17 and recovery switching valve 10 is switched to closed state, cylinder bottom side grease chamber pipeline switching valve 11 is switched to open state, piston rod side grease chamber pipeline switching valve 12 is switched to open state, switched to by discharge switching valve 13.

Controller 100 carries out the decline of usual swing arm and controls (step S16).The first pilot Pd generated from the pilot valve 5 of operation equipment 4 acts on guide's compression zone 2b and the Pilot operated check valve 8 of control valve 2, and control valve 2 is switched operation, and Pilot operated check valve 8 carries out starting work.Thus, the hydraulic oil from oil hydraulic pump 6 guides to piston rod side grease chamber pipeline 40b via piston rod side grease chamber pipeline switching valve 11, and flows into the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a.Its result is, swing arm oil hydraulic cylinder 3a carries out withdrawal action.Thereupon, the rework solution force feed that the cylinder bottom side grease chamber 3ax of slave arm oil hydraulic cylinder 3a discharges is passed through from Pilot operated check valve 8, cylinder bottom side grease chamber pipeline 40a, cylinder bottom side grease chamber pipeline switching valve 11, control valve 2 and is guided to fuel tank 6A.Now, be communicated with control valve 9 and close, therefore in connecting pipeline 41, there is no flow force feed, reclaim switching valve 10 and also close, therefore in reclaim line 42, also do not flow into hydraulic oil.Return after this step of execution.

In (step S2), be that when reclaiming permission setting below pressure reduction Pset1, controller 100 carries out recovery action control (step S3) at the pressure reduction calculated.Particularly, controller 100 to the 1st, 2,4,3 electromagnetic switching valves export respectively and switch to reclaiming switching valve 10 open state, cylinder bottom side grease chamber pipeline switching valve 11 are switched to closed state, piston rod side grease chamber pipeline switching valve 12 are switched to closed state, will discharge switching valve 13 and switch to the instruction of closed state.Thus, the rework solution force feed carrying out the cylinder bottom side grease chamber 3ax of robot arm oil hydraulic cylinder 3a does not flow out to control valve 2 side, starts to flow into reclaim line 42.In addition, the hydraulic oil from oil hydraulic pump 6 is discharged to fuel tank 6A via control valve 2 and piston rod side grease chamber pipeline switching valve 12.Thereby, it is possible to reduction pump power.

Controller 100 in order to determine the control mode being communicated with control valve 9, and judges whether the pressure reduction between the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a and the pressure of piston rod side grease chamber 3ay sets pressure reduction Pset2 high (step S4) than the adjustment preset.It judges whether the pressure boosting end of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a and the flow to the hydraulic oil of the connecting pipeline 41 of piston rod side grease chamber 3ay inflow becomes fixing.When the flow of hydraulic oil becomes fixing, in order to make the pressure loss minimum, be transferred to the control (step S9) by being communicated with control valve 9 standard-sized sheet.When the pressure reduction calculated is higher than adjustment setting pressure reduction Pset2, (step S5) is advanced in order to carry out opening area adjustment to control, when in addition, advance to (step S9) to carry out the control of opening standard-sized sheet.

The opening area adjustment that controller 100 carries out being communicated with control valve 9 controls (step S5).Particularly, the target cylinder bottom flow obtained based on the bar operation amount from operation equipment 4, the hydraulic pressure of cylinder bottom side grease chamber 3ax, the hydraulic pressure of piston rod side grease chamber 3ay calculate the opening area being communicated with control valve 9, thus the flow of the k hydraulic oil doubly into the inhalation flow of hydraulic oil can be made to flow into piston rod side grease chamber 3ay, the Volume Changes of the piston rod side grease chamber 3ay that the inhalation flow of described hydraulic oil brings based on the down maneuver of adjoint swing arm and obtaining.In addition, controller 100 in the mode of the opening area becoming this and calculate to electromagnetic proportional valve 14 output instruction signal.According to the first pilot generated by electromagnetic proportional valve 14, control the opening area being communicated with control valve 9, thus, hydraulic oil flows into from cylinder bottom side grease chamber 3ax to piston rod side grease chamber 3ay via connecting pipeline 41.Its result is, by above-mentioned action, can limit be keep good movement with congruence by piston rod speeds control, the hydraulic pressure of Bian Shi piston rod side grease chamber 3ay, the hydraulic pressure boosting of cylinder bottom side grease chamber 3ax.

Use Fig. 6 that the movement of each several part in opening area adjustment control is described.In figure 6, horizontal axis representing time, (a) ~ (d) of the longitudinal axis is from the upper opening area A representing the first pilot Pd in the decline side of operation equipment 4, hydraulic fluid flow rate Qb0, Qr0, swing arm cylinder pressure Pb, Pr, connection control valve 9 successively.In addition, each characteristic when moment t1 to moment t3 represents that opening area adjustment controls, each characteristic when moment t3 to moment t4 represents that opening standard-sized sheet controls.

At moment t1, when operator by the operating stem of swing arm operation equipment 4 to decline direction operation time, in controller 100, input has by the first pilot Pd shown in (a), determine by the target cylinder bottom side grease chamber flow Qb0 shown in (b), the piston rod side grease chamber flow Qr0 of the volume change of dotted line can be calculated.By making the piston rod side grease chamber flow Qr0 of this volume change be k times, and determine the target flow from being communicated with the hydraulic oil that control valve 9 passes through, and k is set as the best, can it be made to carry out starting work in appropriateness flow restriction control connection control valve 9 limit, limit thus.Its result is, can flow Qb0 limit consistent with desired value, cylinder bottom side grease chamber be made to press Pb to boost cylinder bottom side grease chamber in limit.Moment t2 represents the moment creating the pressure P r of piston rod side grease chamber 3ay when controlling the opening area being communicated with control valve 9 in this wise.

Moment t3 represents that the pressure reduction calculated judged by (step S4) is the moment of adjustment setting below pressure reduction Pset2, until moment t3, performs opening area adjustment and controls.

Be back to Fig. 5, controller 100 calculates and reclaims target flow (step S6).Particularly, recovery target flow is calculated according to target cylinder bottom side grease chamber flow Qr0 with from the target flow being communicated with the hydraulic oil that control valve 9 passes through.

The rotating speed of target that controller 100 carries out generator 21 controls (step S7).Particularly, calculating generator rotating speed of target is carried out according to the recovery target flow calculated by (step S6).In addition, controller 100 is to the instruction of inverter 22 output generator rotating speed of target.The hydraulic oil limit of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a is controlled flow limit oil hydraulic motor 20 is rotated thus.The generator 21 linked with oil hydraulic motor 20 carries out generating action, and therefore the energy of hydraulic oil is as electric energy and via inverter 22, chopper 23 and storing in electric accumulator 24.

Controller 100 judges whether to be in (step S8) in swing arm step-down operation.Particularly, judge that whether the first pilot Pd detected by pressure transducer 36 is higher than the setting pressure preset.When first pilot Pd is higher than setting pressure, is judged as being in swing arm step-down operation, advances to (step S2), when in addition, advance to (step S12) and (step 13).

When advancing to (step 2) from (step 8), at this, again determine the recovery can carrying out hydraulic oil energy.Its reason is, even if when energy regenerating is carried out on boosting limit, limit, controller 100 also measures the pressure of cylinder bottom side grease chamber 3ax incessantly, checks whether the setting pressure reaching the 1st overload relief valve 30.And, when the pressure and the 1st of cylinder bottom side grease chamber 3ax transship relief valve 30 setting pressure between pressure reduction reach reclaim allow to set pressure reduction Pset1, shift to (step S15), even if also closed communicating control valve 9 in swing arm down maneuver, carry out the control stopping energy regenerating action.

By carrying out this control, the 1st overload relief valve 30 involuntary maneuver can be avoided, and the movement of oil hydraulic cylinder 3a such as not to stop at the danger.

Then, again in (step S4), it is high that controller 100 judges whether the pressure reduction between the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a and the pressure of piston rod side grease chamber 3ay sets pressure reduction Pset2 than the adjustment preset.In this (step S4), when being judged as that the hydraulic pressure boosting of cylinder bottom side grease chamber 3ax terminates and becomes fixing to the flow of the hydraulic oil passed through from connecting pipeline 41 of piston rod side grease chamber 3ay, advance to (step S9).

The opening standard-sized sheet that controller 100 carries out being communicated with control valve 9 controls (step S9).Particularly, the pressure loss in order to the hydraulic oil will passed through from connecting pipeline 41 suppresses for minimum, to make the mode of connection control valve 9 standard-sized sheet to electromagnetic proportional valve 14 output instruction signal.

Use Fig. 6 that the movement of each several part in the control of opening standard-sized sheet is described.

At moment t3, the pressure reduction between the pressure of the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a judged by (step S4) and the pressure of piston rod side grease chamber 3ay becomes to adjust and sets below pressure reduction Pset.Therefore, be judged to be that the pressure increase of cylinder bottom side grease chamber 3ax is to greatest extent, in order to reduce the energy loss based on crushing, makes the opening standard-sized sheet of connection control valve 9.Thus, as shown in (b), the flow of the hydraulic oil passed through from connecting pipeline 41 reduces towards the piston rod side grease chamber flow Qr0 of volume change, restrains at moment t4.

Be back to Fig. 5, controller 100 calculates and reclaims target flow (step S10).Particularly, recovery target flow is calculated according to target cylinder bottom side grease chamber flow Qr0 with from the target flow being communicated with the hydraulic oil that control valve 9 passes through.

The rotating speed of target that controller 100 carries out generator 21 controls (step S11).Particularly, calculating generator rotating speed of target is carried out according to the recovery target flow calculated by (step S10).In addition, controller 100 is to the instruction of inverter 22 output generator rotating speed of target.The hydraulic oil limit of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a is controlled flow limit oil hydraulic motor 20 is rotated thus.The generator 21 linked with oil hydraulic motor 20 carries out generating action, and therefore the energy of hydraulic oil is as electric energy and via inverter 22, chopper 23 and storing in electric accumulator 24.

Controller 100 judges whether to be in (step S8) in swing arm step-down operation.Advancing to (step S2) when being in swing arm step-down operation, when in addition, advancing to (step S12) and (step 13).

At this, when not being in swing arm step-down operation, controller 100 closed communicating control valve 9 and stop energy regenerating action (step S12).Particularly, instruction recovery switching valve 10 being switched to closed state, cylinder bottom side grease chamber pipeline switching valve 11 switched to open state, piston rod side grease chamber pipeline switching valve 12 switched to open state, discharge switching valve 13 switched to closed state is exported respectively to the 1st, 2,4,3 electromagnetic switching valves 15,16,18,17.In addition, the control signal to electromagnetic proportional valve 14 and the generator rotating speed of target instruction to inverter 22 is made to be halted state.Return after this step of execution.

Controller 100 in order to judge the hydraulic oil whether remain boosting in piston rod side grease chamber pipeline 40b after, and judges whether the pressure reduction between the pressure of the piston rod side grease chamber 3ay of swing arm oil hydraulic cylinder 3a and the pressure of cylinder bottom side grease chamber 3ax sets pressure reduction Pset3 high (step S13) than the switching preset.This step controls to carry out to carry out the Liquid Residue force feed after reclaimer operation discharging.When pressure reduction is higher than setting pressure, advances to step S14 to discharge Liquid Residue force feed, when in addition, being back to (step S13).

Controller 100 switches discharges switching valve 13 (step S14).Particularly, to the 3rd electromagnetic switching valve 17 output switching instruction.Thus, piston rod side grease chamber pipeline 40b is communicated with fuel tank 6A, and Liquid Residue force feed is discharged to fuel tank 6A.Return after this step of execution.

According to the 1st mode of execution of the hydraulic oil energy recycle device of above-mentioned Work machine of the present invention, can the piston rod speed of hydraulic control cylinder 3a, make the rework solution force feed boosting the grease chamber discharged from oil hydraulic cylinder 3a simultaneously, and reduce the flow of the rework solution force feed flowed into hydraulic oil energy recycle device, therefore, it is possible to do not make the miniaturization of hydraulic oil energy recycle device with not reducing recovered energy.Its result is, can guarantee the operability equal with the engineering machinery of standard type, and seeks the raising of the reuse efficiency of energy.

In addition, according to the 1st mode of execution of the hydraulic oil energy recycle device of above-mentioned Work machine of the present invention, under transition state when recovery action, can prevent the pressure increase of cylinder bottom side grease chamber 3ax to necessity, and can be and congruence by piston rod speeds control, therefore, it is possible to limit keeps the hydraulic pressure of good movement Bian Shi piston rod side grease chamber 3ay and the hydraulic pressure of cylinder bottom side grease chamber 3ax to boost.This result is, can guarantee the operability equal with the engineering machinery of standard type, and seeks the raising of the reuse efficiency of energy.

Embodiment 2

Below, use accompanying drawing that the 2nd mode of execution of the hydraulic oil energy recycle device of Work machine of the present invention is described.Fig. 7 is the skeleton diagram of the control system of the 2nd mode of execution of the hydraulic oil energy recycle device representing Work machine of the present invention, and Fig. 8 is the block diagram of the controller of the 2nd mode of execution of the hydraulic oil energy recycle device forming Work machine of the present invention.In Fig. 7 and Fig. 8, the reference character identical with the reference character shown in Fig. 1 to Fig. 6 represents with a part, therefore omits it and illustrates.

2nd mode of execution of the hydraulic oil energy recycle device of the Work machine of the present invention shown in Fig. 7 and Fig. 8 is made up of hydraulic power roughly in a same manner as in the first embodiment and working machine etc., but following structure is different.In the present embodiment, eliminate the pressure transducer 35 of the hydraulic fluid pressure of the piston rod side grease chamber 3ay detecting swing arm oil hydraulic cylinder 3a, in controller 100, be provided with the piston rod side grease chamber pressure operational part 107 calculating the pressure of piston rod side grease chamber 3ay according to the pressure of cylinder bottom side grease chamber 3ax.

In fig. 8, piston rod side grease chamber pressure operational part 107 inputs the pressure of the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a detected by pressure transducer 34, and carries out the computing calculating piston rod side grease chamber pressure.Particularly, at piston rod to carry out calculation from the pressure of cylinder bottom side grease chamber 3ax when steady velocity action, carry out the computing of following numerical expression (15) ~ numerical expression (17).

M＝Pb’·Ab····(15)

At this, M represents the loading of the swing arm oil hydraulic cylinder 3a comprising front apparatus for work, Pb ' represents the pressure of the cylinder bottom side grease chamber 3ax of the swing arm oil hydraulic cylinder 3a be communicated with when control valve 9 closes, Ab represents the area of the piston of the cylinder bottom side grease chamber of swing arm oil hydraulic cylinder 3a, and the pressure of the piston rod side grease chamber 3ay of the swing arm oil hydraulic cylinder 3a be communicated with when control valve 9 closes is set to 0.

The pressure P r being communicated with piston rod side grease chamber when control valve 9 is opened is calculated by numerical expression (16).

Pr＝(Pb·Ab－M)/Ar····(16)

At this, Pb represents the pressure of the cylinder bottom side grease chamber 3ax of swing arm oil hydraulic cylinder 3a, and Ar represents the area of the piston of the piston rod side grease chamber of swing arm oil hydraulic cylinder 3a.

Numerical expression (15) is substituting to numerical expression (16), arranges and calculate numerical expression (17).

Pr＝Ab/Ar·(Pb－Pb’)····(17)

The pressure of piston rod side grease chamber 3ay can be estimated from the calculation of pressure of cylinder bottom side grease chamber 3ax by numerical expression (17).

Piston rod side grease chamber pressure operational part 107 is to swing arm cylinder pressure comparing and computing unit 101 and be communicated with the pressure that control valve opening area operational part 103 exports above-mentioned piston rod side grease chamber 3ay.

According to the 2nd mode of execution of the hydraulic oil energy recycle device of above-mentioned Work machine of the present invention, effect in a same manner as in the first embodiment can be obtained.

In addition, according to the present embodiment, the pressure transducer 35 of the pressure of the piston rod side grease chamber 3ay detecting swing arm oil hydraulic cylinder 3a can be omitted, reduce so cost can be sought.

Description of reference numerals

1 hydraulic shovel

1a swing arm

2 control valves

2a guide's compression zone

2b guide's compression zone

3a swing arm oil hydraulic cylinder

3ax cylinder bottom side grease chamber

3ay piston rod side grease chamber

4 operation equipment

5 control valves

6 oil hydraulic pumps

6A fuel tank

7 guide's oil hydraulic pumps

8 Pilot operated check valves

9 are communicated with control valve

10 reclaim switching valve

11 cylinder bottom side grease chamber pipeline switching valves

12 piston rod side grease chamber pipeline switching valves

13 discharge switching valve (expulsion valve)

14 electromagnetic proportional valves

15 the 1st electromagnetic switching valves

16 the 2nd electromagnetic switching valves

17 the 3rd electromagnetic switching valves

18 the 4th electromagnetic switching valves

20 oil hydraulic motors

21 generators

22 inverters

23 choppers

24 electric accumulators

30 the 1st overload relief valves

31 the 1st replenish valves

32 the 2nd overload relief valves

33 the 2nd replenish valves

34 pressure transducers (the 1st pressure detection mechanism)

35 pressure transducers (the 2nd pressure detection mechanism)

36 pressure transducers (first pilot feeler mechanism)

40 pipelines

40a cylinder bottom side grease chamber pipeline

40b piston rod side grease chamber pipeline

41 connecting pipelines

41a cylinder bottom side grease chamber connecting pipeline

41b piston rod side grease chamber connecting pipeline

42 reclaim line

43 return pipelines

50a guide's oil circuit

50b guide's oil circuit

60 motors

100 controllers

Claims (6)

1. a hydraulic oil energy recycle device for Work machine, has oil hydraulic pump, drives the oil hydraulic cylinder of apparatus for work, operates the operating device of described oil hydraulic cylinder and reclaim the oil hydraulic motor of rework solution force feed of described oil hydraulic cylinder, it is characterized in that having:

Connecting pipeline, it is communicated with piston rod side grease chamber for making the cylinder bottom side grease chamber of described oil hydraulic cylinder; Connecting valve, it to be located on described connecting pipeline and can be adjusted pressure and/or the flow of the hydraulic oil passed through from described connecting pipeline by the aperture adjusting described connecting valve; 1st pressure detection mechanism, it detects the pressure signal of the cylinder bottom side grease chamber of described oil hydraulic cylinder; Operation amount feeler mechanism, it detects the operation amount of described operating device; And control gear, it is taken into the operation amount of the described operating device that the pressure signal of the cylinder bottom side grease chamber of the described oil hydraulic cylinder that described 1st pressure detection mechanism detects and described operation amount feeler mechanism detect and calculates the piston rod speed of described oil hydraulic cylinder, correspondingly controls described connecting valve with described piston rod speed.

2. the hydraulic oil energy recycle device of Work machine according to claim 1, is characterized in that,

Described control gear controls described connecting valve, make to increase with the volume along with the described piston rod side grease chamber calculated from described piston rod velocimeter and compared with the inhalation flow of the hydraulic oil produced, the flow of the hydraulic oil flowed into piston rod side grease chamber from the cylinder bottom side grease chamber of described oil hydraulic cylinder is more.

3. the hydraulic oil energy recycle device of Work machine according to claim 1, is characterized in that,

Also there is the 2nd pressure detection mechanism of the pressure signal of the piston rod side grease chamber detecting described oil hydraulic cylinder,

The pressure reduction of described control gear between the pressure of cylinder bottom side grease chamber and the pressure of the piston rod side grease chamber of described oil hydraulic cylinder of the described oil hydraulic cylinder that described 1st pressure detection mechanism and the 2nd pressure detection mechanism detect exceedes the setting pressure preset, flow restriction control control is carried out to the aperture of described connecting valve

Pressure reduction between the pressure of cylinder bottom side grease chamber and the pressure of the piston rod side grease chamber of described oil hydraulic cylinder of described oil hydraulic cylinder is below the setting pressure that presets, standard-sized sheet control is carried out to the aperture of described connecting valve.

4. the hydraulic oil energy recycle device of Work machine according to claim 1, is characterized in that,

Also have pressure controlled valve, it is when the pressure increase of the hydraulic oil of described oil hydraulic cylinder is to its oil pressure relief, carries out starting and does and discharged to fuel tank by described hydraulic oil,

Described control gear is under the closed state of described connecting valve, pressure reduction between the pressure and the oil pressure relief of described pressure controlled valve of the cylinder bottom side grease chamber of the described oil hydraulic cylinder that described 1st pressure detection mechanism detects exceedes the setting pressure preset, continue the Closed control of described connecting valve.

5. the hydraulic oil energy recycle device of Work machine according to claim 1, is characterized in that,

Also have pressure controlled valve, it is when the pressure increase of the hydraulic oil of described oil hydraulic cylinder is to its oil pressure relief, carries out starting and does and discharged to fuel tank by described hydraulic oil,

Described control gear is opened in control at described connecting valve, pressure reduction between the pressure and the oil pressure relief of described pressure controlled valve of the cylinder bottom side grease chamber of the described oil hydraulic cylinder that described 1st pressure detection mechanism detects exceedes the setting pressure preset, Closed control is carried out to described connecting valve.

6. the hydraulic oil energy recycle device of the Work machine according to any one of Claims 1 to 5, is characterized in that also having:

Controlled by described operating device and the hydraulic oil from described oil hydraulic pump is switched the control valve being supplied to described oil hydraulic cylinder; And to be located between described oil hydraulic cylinder with described control valve and to make the expulsion valve that the hydraulic oil of the piston rod side grease chamber of described oil hydraulic cylinder is communicated with fuel tank.